CurStat_Description = {
    0x00: "空闲状态",
    0x01: "直行状态",
    0x03: "转弯状态",
    0x04: "顶升状态",
    0x05: "下降状态",
    0x07: "充电状态",
    0x08: "低功耗状态",
    0x09: "有时间充电状态",
    0x0A: "有时间暂停状态",
    0x0B: "暂停状态",
    0x0C: "中止状态",
    0x0D: "机器人校准状态",
    0x20: "前滚筒从左侧取货",
    0x21: "前滚筒从右侧取货",
    0x22: "后滚筒从左侧取货",
    0x23: "后滚筒从右侧取货",
    0x24: "前滚筒从左侧抛货",
    0x25: "前滚筒从右侧抛货",
    0x26: "后滚筒从左侧抛货",
    0x27: "后滚筒从右侧抛货",
    0x28: "双滚筒左侧取货",
    0x29: "双滚筒右侧取货",
    0x2A: "用户自定义抛货",
    0x2B: "静态抛货",
    0x2C: "正常取货",
    0x2D: "红外触发抛货",
    0xEF: "手动移动AGV状态",
    0xF0: "下视丢码状态",
    0xF2: "IMU故障状态",
    0xF3: "电机故障状态",
    0xF4: "下限位丢失状态",
    0xFE: "因故障进入休眠状态",
    0xFF: "故障状态",
}

Fault_Code_Description = {
    0x0001: "MCU和硬件",
    0x0002: "MCU和硬件",
    0x0003: "MCU和硬件",
    0x0004: "MCU和硬件",
    0x0005: "MCU和硬件",
    0x0006: "MCU和硬件",
    0x0007: "MCU和硬件",
    0x2000: "未细分的下视丢码",
    0x2001: "待机状态下丢码",
    0x2002: "校准中丢码",
    0x2003: "直行和转弯返回错误",
    0x2004: "直行结束丢码",
    0x2005: "直行中错码",
    0x2006: "直行丢失终点码",
    0x2007: "直行中间码丢失",
    0x2008: "检测不到货架",
    0x200B: "实际货架与给定不符",
    0x200C: "转弯过程校正货架发生错误",
    0x2010: "直行位置偏差过大",
    0x2011: "位姿融合失败轻度",
    0x2012: "位姿融合失败",
    0x2013: "实际地址码与给定不符，重登",
    0x2014: "因故障进入休眠状态前的警告",
    0x2015: "起步地址较偏提示",
    0x2016: "起步二次纠偏提示",
    0x2017: "静态丢码纠正提示",
    0x2018: "转弯初始化错误",
    0x2019: "转弯结束丢码",
    0x201A: "直行初始化时丢码或故障",
    0x2020: "直行路径路程为0",
    0x2021: "重新登录警告",
    0x2022: "接收RMS数据超时3秒",
    0x2023: "直行初始化IMU输出故障",
    0x2024: "旋转角度计算超限",
    0x2030: "下视角度自动校准提示",
    0x2031: "直行起步下视等待超时",
    0x2100: "未细分的上视丢码",
    0x2101: "转弯过程中丢失上视",
    0x2102: "顶升时丢失上视",
    0x2103: "下降时丢失上视",
    0x2104: "上视损坏严重",
    0x2105: "距离货架太远",
    0x2106: "换面开始前丢失货架二维码",
    0x2107: "旋转电机编码器数据跳变",
    0x2108: "校准货架上时丢失上视",
    0x2109: "转弯前丢失上视",
    0x210A: "转弯中丢失上视",
    0x210B: "获取旋转电机绝对位置失败",
    0x210C: "货架校正超限",
    0x2110: "顶升失败",
    0x2111: "下降失败",
    0x2200: "转弯过程中校正货架超行程，货架卡住",
    0x2201: "取箱失败",
    0x2202: "放箱失败",
    0x3001: "行进中雷达触发",
    0x3002: "行进中雷达触发停止",
    0x3003: "转弯中雷达触发停止",
    0x3004: "特殊直行中雷达触发停止",
    0x3010: "急停触发和解除",
    0x3011: "触边触发与解除",
    0x3020: "烟雾传感器触发",
    0x4002: "下降时丢失下限位",
    0x4011: "开机时丢失下限位",
    0x5000: "未细分的惯导故障",
    0x5001: "惯导模块通讯异常",
    0x5002: "惯导标定数据异常",
    0x5003: "惯导数据异常",
    0x5004: "惯导归零异常",
    0x5005: "原子惯导归零异常",
    0x5006: "长时间挡雷达的惯导归零",
    0x5007: "惯导角度偏，紧急停止",
    0x5008: "直行中惯导赋值角度超差0.5度",
    0x5009: "直行中惯导大于10度",
    0x500A: "直行中惯导角度变化过大，舍弃",
    0x500B: "静态时的阈值",
    0x500C: "惯导数据丢帧",
    0x5010: "imu 较多与编码器角度偏差过大，需要重设目标",
    0x5011: "imu 与编码器角度偏差过大,imu角度偏移小于编码器。编码器有大的变动",
    0x5012: "导航角度偏大，急停",
    0x5014: "位姿融合检测imu角度偏大,导航角度切换提示",
    0x6000: "未细分的电机故障",
    0x6001: "电机通讯掉线（保留)",
    0x6002: "电机温度过高（保留)",
    0x6003: "电机离线异常",
    0x6004: "电机报警(见右侧电机故障）电机主动上报",
    0x6005: "左右轮故障锁定",
    0x6006: "行走中电机位置不变化",
    0x6007: "旋转过程中电机位置不变",
    0x6008: "电机减速超时",
    0x6009: "换面出错",
    0x6010: "电机速度模式上电使能失败",
    0x6011: "电机位置模式上电使能失败",
    0x6012: "电机发送信号质量差",
    0x6013: "车辆运行中收到电机复位信号",
    0x6014: "电机启动PDO异常",
    0x6015: "电机PDO关闭异常",
    0x6016: "电机使能同步模式异常",
    0x6017: "电机关闭同步模式异常",
    0x6018: "电机失联模式打开异常",
    0x6019: "电机失联模式关闭异常",
    0x6020: "上电使能异常",
    0x6021: "断电使能异常",
    0x6022: "轮子设定和反馈速度超差",
    0x7000: "电池故障提示（见右侧电池故障代码）",
    0x7001: "电池通讯故障",
    0x7002: "电量异常跳变",
    0x7003: "过压报警",
    0x7004: "欠压报警",
    0x7005: "温度过高",
    0x7006: "温度过低",
    0x7007: "过流报警",
    0x7008: "电池温度高于设定温度阈值",
    0x8001: "wifi模块故障",
    0x8002: "wifi模块故障",
    0x8003: "wifi模块故障",
    0x8004: "wifi模块故障",
    0x8005: "wifi模块故障",
    0x8006: "wifi模块故障",
    0x9001: "充电传感器异常",
    0x9002: "充电对接超时（保留）",
    0x9003: "对接后长时间未充电",
    0x9004: "充电口有异物",
    0x9005: "后退检测不到充电桩",
    0xA001: "充电桩充电口异物阻塞（保留）",
    0xA002: "充电电压过高（保留）",
    0xA003: "充电电压过低（保留）",
    0xA004: "充电电流过大（保留）",
    0xA005: "等待对接超时（保留）",
    0xA006: "充电模块未知异常",
    0xA007: "充电模块未知异常",
    0xA008: "充电模块未知异常",
    0xA009: "充电模块未知异常",
    0xC001: "滚筒设备超时无应答",
    0xC002: "滚筒收到取货命令但已经有货",
    0xC003: "滚筒收到放货命令但没有货",
    0xC010: "RFID设备超时无应答",
}

StateComple_Type_Description = {
    0x01: "初始化自检或被动查询完成",
    0x02: "直行路径完成",
    0x03: "转弯完成",
    0x05: "升降完成",
    0x06: "升降并取箱完成",
    0x07: "升降并放箱完成",
    0x08: "充电对接完成",
    0x09: "小车退出充电桩完成",
    0x0A: "边走边升降完成",
    0x0C: "AGV校正完成",
    0x0D: "直行加减速设置完成",
    0x0F: "整个路径执行完成",
    0x21: "前滚筒从左侧取货完成",
    0x22: "前滚筒从右侧取货完成",
    0x23: "后滚筒从左侧取货完成",
    0x24: "后滚筒从右侧取货完成",
    0x25: "前滚筒从左侧放货完成",
    0x26: "前滚筒从右侧放货完成",
    0x27: "后滚筒从左侧放货完成",
    0x28: "后滚筒从右侧放货完成",
    0x31: "走到了取货点做好等待红外触发的准备",
    0x32: "走到了抛货点做好等待红外触发的准备",
    0x33: "前后滚筒从左侧取货完成",
    0x34: "前后滚筒从右侧取货完成",
    0x35: "前后滚筒从左侧放货完成",
    0x36: "前后滚筒从右侧放货完成",
    0x3A: "正常抛货动作完成",
    0x3B: "用户自定义抛货动作完成",
    0x3C: "正常取货动作完成",
    0x3D: "红外触发抛货完成",
    0x40: "边走边升降完成",
    0x50: "180°圆弧左转完成",
    0x60: "90°圆弧左转完成",
    0x70: "180°圆弧右转完成",
    0x80: "90°圆弧右转完成",
}
